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How the objects detected by vision are used in Autoware.AI

asked 2020-07-18 21:19:02 -0600

Ahmet Soyyigit gravatar image


I have been investigating the Autoware,AI perception source. As far as I understand, the objects detected by vision nodes (ssd, darknet) does not affect the the result of naive_motion_predict node. They are only used by range_vision_fusion and vision_beyond_track nodes, but output of these nodes does not affect any other node. I couldn't find where the bounding box information is used in the whole stack besides visualization. Is it the case that objects detected by vision have no use in the current status of Autoware.AI? Are they only used to visualize bounding boxes?

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answered 2020-08-13 12:05:27 -0600

Josh Whitley gravatar image

The objects created by range_vision_fusion are published (by default) to the topic /detection/fusion_tools/objects. This topic is subscribed to by the lidar_imm_ukf_pda_track module which is used for object tracking. This module then publishes /detection/objects which is then used by naive_motion_predict.

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Asked: 2020-07-18 21:19:02 -0600

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Last updated: Aug 13 '20